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Product Description

Precision Torque Frameless Harmonic Drives Rotary Actuator

Conventional rotary actuators often combine frameless inner rotor torque motors with harmonic drives and absolute encoders to create a fully functional rotary actuator system. The driving unit is typically arranged externally, allowing for precise motion control of attached machinery. These actuators find frequent use in applications that demand both high accuracy and compact design, including rotary tables for machine tools, precision medical devices, 5-axis laser cutting machines, and equipment for semiconductor manufacturing.

Features of Harmonic Drives Rotary Actuator

Elevated Torque Performance
This motor provides substantial torque at reduced speeds, ensuring it meets the demands of equipment loads for optimal low-speed/high-torque functionality.

Streamlined Integrated Architecture
Frameless torque motors do away with external housings and bearings, integrating directly into the actuator to reduce overall size.

Accurate Control Features
Equipped with high-resolution encoders, this system allows for micron-level positioning and smooth landing, making it perfect for applications such as precision rotary tables and semiconductor die bonding.

Rapid Inertia Response
The combination of a lightweight rotor and low-friction design improves the speed of dynamic responses while minimizing motion delay.

Specification of Harmonic Drives Rotary Actuator

Product Parameters(AC-220V)
Model		11		14			17				20					25					32					40					50		58
Reduction Ratio	/	51	101	51	81	101	51	81	101	121	51	81	101	121	161	51	81	101	121	161	51	81	101	121	161	51	81	101	121	161	51	101	51	101
Rated Torque	N·M	4	8	8.6	13.5	13.5	27	33	49	49	30	48	58	61	61	68.5	107	133	133	133	133	206	264	267	267	242	351	460	557	557	642	823	951	1200
Peak Torque	N·M	8.3	11	23	29	34	43	53	66	66	69	91	102	108	113	121	169	194	207	217	267	376	411	436	459	497	641	702	762	800	1163	1211	1828	1964
Rated Speed	RPM	69	35	59	37	30	59	37	30	25	59	37	30	25	19	49	31	25	21	16	45	28	23	19	14	39	25	20	17	12	27	22	27	22
Max Speed	RPM	102	51	118	74	59	118	74	59	50	118	74	59	50	37	94	59	48	40	30	90	57	49	38	29	80	51	41	34	25	37	30	37	30
Rated Current	A	0.98	0.99	0.78	0.77	0.62	2.36	1.82	2.17	1.81	2.63	2.65	2.56	2.25	1.69	3.90	3.84	3.83	3.20	2.40	5.82	5.68	5.83	4.93	3.7	8.72	7.97	8.37	8.46	6.36	11.94	12.27	17.68	17.89
Max Current	A	2.03	1.36	2.09	1.66	1.56	3.68	2.92	2.92	2.44	6.04	5.02	4.51	3.98	3.13	6.90	6.07	5.58	4.97	3.92	11.69	10.36	9.08	8.04	6.36	17.91	14.55	12.75	11.58	9.13	21.62	18.06	33.99	29.29
Torque Constant	N·M/Arms	4.08	8.08	11.02	17.50	21.82	11.42	18.14	22.62	27.10	11.42	18.14	22.62	27.10	36.06	17.54	27.86	34.74	41.62	55.38	22.85	36.29	45.25	54.21	72.13	27.74	44.06	54.94	65.82	87.58	53.78	67.06	53.784	67.064
Unidirectional Positioning Accuracy	Arcsec	≤90	≤90	≤70	≤60	≤60	≤60	≤60	≤50	≤50	≤60	≤60	≤60	≤50	≤50	≤60	≤50	≤50	≤40	≤40	≤60	≤50	≤50	≤40	≤40	≤60	≤50	≤50	≤40	≤40	≤30	≤30	≤30	≤30
Repeat Positioning Accuracy	Arcsec	≤20	≤20	≤15	≤10	≤10	≤15	≤10	≤10	≤10	≤10	≤10	≤10	≤10	≤10	≤10	≤10	≤10	≤10	≤10	≤10	≤10	≤10	≤10	≤10	≤10	≤10	≤10	≤10	≤10	≤10	≤10	≤10	≤10
Tilt Stiffness	X104N.m/rad	4		8			15				24					38					95					175					Rated radial load 2750N Rated axial load 2750N Rated overturning moment 1950N.M		Rated radial load 3200N Rated axial load 3200N Rated overturning moment 2500N.M
Torsional Stiffness	X104N.m/rad	0.3	0.34	0.46	0.6		1.07	1.3			1.8	2.3				3.4	4.6				7.6	9.9				14	18.6
Motor Phase Resistance	Ohma(20°C)	12		7.5			2.6				2.6					3.55					0.88					0.8					0.126		0.126
Motor Phase Inductance	Mh	9.5		11.5			6.7				6.7					10					6.1					8					0.65		0.65
Back-EMF Constant	Vrms/Krpm	10.5		25			25				25					40					40					44					52		52
Rotor Inertia	Without brake KG*m2	8.32*10^-6		3.6*10^-5			7.96*10^-5				8.8*10^-5					2.1*10^-4					8.3*10^-4					1.64*10^-3					4.8*10^-3		4.8*10^-3
Rotor Inertia	With brake KG*m2	8.73*10^-6		3.7*10^-5			9.12*10^-5				9.17*10^-5					2.2*10^-4					1.04*10^-3					2.05*10^-3					/		/
Mass (Without Brake)	Kg	1.17		1.66			2.2				2.4					3.6					7.4					10.7					25		32
Mass (With Brake)	Kg	1.36		2			2.8				2.96					4.2					8.7					12					/		/
Motor Poles	Pole	10		16			16				16					16					16					16					20		20
Diameter & Length (With/Without Brake)	mm	63mmX83mm 63mmx99.7mm		ø74mmX91.5mm ø74mmX109.5mm			ø88mmX98mm ø88mmX122mm				ø88mmX101mm ø88mmX125mm					ø110mmX109mm ø110mmX130.5mm					ø142mmX138.7mm ø142mmX164.2mm					ø170mmX150.7mm ø170mmX175.7mm					ø214mmX196mm		ø240mmX216mm ø240mmX249.4mm
Hollow Shaft Diameter	mm	ø10mm		ø9mm			ø13.5mm				ø16.5mm					ø17mm					ø29mm					ø40mm					ø40mm		ø50mm
Notes	For reference only, please contact sales for actual parameters
Notes

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